Nissan set speed (#1289)

* LKA_ACTIVE should be set with enabled, not cruiseState.enabled. Was causing panda violations

* Added cruiseState.speed to Nissan X-Trail

* Bump opendbc

* Remove redundant if statement

* Fix tests

Co-authored-by: Willem Melching <willem.melching@gmail.com>

selfdrive/car/nissan/carcontroller.py

@@ -76,7 +76,7 @@ class CarController():
         can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
 
     can_sends.append(nissancan.create_steering_control(
-        self.packer, self.car_fingerprint, apply_angle, frame, acc_active, self.lkas_max_torque))
+        self.packer, self.car_fingerprint, apply_angle, frame, enabled, self.lkas_max_torque))
 
     if frame % 2 == 0:
       can_sends.append(nissancan.create_lkas_hud_msg(

selfdrive/car/nissan/carstate.py

@@ -48,13 +48,16 @@ class CarState(CarStateBase):
     elif self.CP.carFingerprint == CAR.LEAF:
       ret.cruiseState.available = bool(cp.vl["CRUISE_THROTTLE"]["CRUISE_AVAILABLE"])
 
-    # TODO: Find mph/kph bit on XTRAIL
-    if self.CP.carFingerprint == CAR.LEAF:
-      speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
-      if speed != 255:
-        speed -= 1  # Speed on HUD is always 1 lower than actually sent on can bus
+    # TODO: Find mph/kph bit on XTRAIL until then, assume xtrail is kph.
+    # Unable to change kph to mph on the xtrail, need a rogue to test it on
+    speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
+    if speed != 255:
+      if self.CP.carFingerprint == CAR.XTRAIL:
+        conversion = CV.KPH_TO_MS
+      else:
         conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
-        ret.cruiseState.speed = speed * conversion
+      speed -= 1  # Speed on HUD is always 1 lower than actually sent on can bus
+      ret.cruiseState.speed = speed * conversion
 
     ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-9340df7223fd4ec402d161523301a996d33aef5c
+64da2a519cfff9f74bd07190dd96425224a8ad1f